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posix: small cleanup

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This commit is contained in:
Julian Oes
2020-12-02 08:52:49 +13:00
committed by Beat Küng
parent e51000c5be
commit 5be2066e1a
1 changed files with 14 additions and 21 deletions
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35
platforms/posix/src/px4/common/tasks.cpp
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@@ -1,7 +1,7 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2015 Mark Charlebois. All rights reserved. * Copyright (C) 2015-2020 Mark Charlebois. All rights reserved.
* Author: @author Mark Charlebois <charlebm#gmail.com> * Author: @author Mark Charlebois <charlebm@gmail.com>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -33,7 +33,6 @@
****************************************************************************/ ****************************************************************************/
/** /**
* @file px4_posix_tasks.c
* Implementation of existing task API for Linux * Implementation of existing task API for Linux
*/ */
@@ -60,22 +59,18 @@
#include <px4_platform_common/posix.h> #include <px4_platform_common/posix.h>
#include <systemlib/err.h> #include <systemlib/err.h>
#define MAX_CMD_LEN 100
#define PX4_MAX_TASKS 50 #define PX4_MAX_TASKS 50
#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
pthread_t _shell_task_id = 0; pthread_t _shell_task_id = 0;
pthread_mutex_t task_mutex = PTHREAD_MUTEX_INITIALIZER; pthread_mutex_t task_mutex = PTHREAD_MUTEX_INITIALIZER;
struct task_entry { struct task_entry {
pthread_t pid; pthread_t pid{0};
std::string name; std::string name{};
bool isused; bool isused {false};
task_entry() : isused(false) {}
}; };
static task_entry taskmap[PX4_MAX_TASKS] = {}; static task_entry taskmap[PX4_MAX_TASKS] {};
typedef struct { typedef struct {
px4_main_t entry; px4_main_t entry;
@@ -89,13 +84,11 @@ static void *entry_adapter(void *ptr)
{ {
pthdata_t *data = (pthdata_t *) ptr; pthdata_t *data = (pthdata_t *) ptr;
int rv;
// set the threads name // set the threads name
#ifdef __PX4_DARWIN #ifdef __PX4_DARWIN
rv = pthread_setname_np(data->name); int rv = pthread_setname_np(data->name);
#else #else
rv = pthread_setname_np(pthread_self(), data->name); int rv = pthread_setname_np(pthread_self(), data->name);
#endif #endif
if (rv) { if (rv) {
@@ -114,8 +107,6 @@ static void *entry_adapter(void *ptr)
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
char *const argv[]) char *const argv[])
{ {
int i;
int argc = 0; int argc = 0;
unsigned int len = 0; unsigned int len = 0;
struct sched_param param = {}; struct sched_param param = {};
@@ -150,7 +141,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
taskdata->entry = entry; taskdata->entry = entry;
taskdata->argc = argc; taskdata->argc = argc;
for (i = 0; i < argc; i++) { for (int i = 0; i < argc; ++i) {
PX4_DEBUG("arg %d %s\n", i, argv[i]); PX4_DEBUG("arg %d %s\n", i, argv[i]);
taskdata->argv[i] = (char *)offset; taskdata->argv[i] = (char *)offset;
strcpy((char *)offset, argv[i]); strcpy((char *)offset, argv[i]);
@@ -226,6 +217,8 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
px4_task_t taskid = 0; px4_task_t taskid = 0;
int i;
for (i = 0; i < PX4_MAX_TASKS; ++i) { for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (!taskmap[i].isused) { if (!taskmap[i].isused) {
taskmap[i].name = name; taskmap[i].name = name;
@@ -307,10 +300,11 @@ int px4_task_delete(px4_task_t id)
void px4_task_exit(int ret) void px4_task_exit(int ret)
{ {
int i;
pthread_t pid = pthread_self(); pthread_t pid = pthread_self();
// Get pthread ID from the opaque ID // Get pthread ID from the opaque ID
int i;
for (i = 0; i < PX4_MAX_TASKS; ++i) { for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].pid == pid) { if (taskmap[i].pid == pid) {
pthread_mutex_lock(&task_mutex); pthread_mutex_lock(&task_mutex);
@@ -422,7 +416,7 @@ const char *px4_get_taskname()
int px4_prctl(int option, const char *arg2, px4_task_t pid) int px4_prctl(int option, const char *arg2, px4_task_t pid)
{ {
int rv; int rv = -1;
switch (option) { switch (option) {
case PR_SET_NAME: case PR_SET_NAME:
@@ -435,7 +429,6 @@ int px4_prctl(int option, const char *arg2, px4_task_t pid)
break; break;
default: default:
rv = -1;
PX4_WARN("FAILED SETTING TASK NAME"); PX4_WARN("FAILED SETTING TASK NAME");
break; break;
} }